4 wheel swerve with independent steering and drive is called "King Crab."
It may have been coined that by Kaptain Krunch.
Chiefdelphi had this setup in 2001....plus it was a climbing swerve with triangular treads. Making it truly difficult was the motor selection. They had two drill motors, two FP motors, two window motors and two seat motors.
I believe this exhausted their motor supply forcing them to deploy pneumatics for the first time since their inception in 1996.
That's tough.
Team 857 built the first "Kiwi" drive in 2002. They also coined the term kiwi....originally to disguise the Killough Drive Base origins. Design secrecy was a little more common back then.
Full disclosure, I was on 857 and coined the term kiwi with my fellow team members.